• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.756-759
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• 1997

Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2066-2071
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• 2003

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

• Journal of Astronomy and Space Sciences
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• v.20 no.1
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• pp.63-82
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• 2003

Using the Schwarzschild's linear programming technique, we obtained the general solutions of the collisionless Bolzmann equation describing the spherical galaxy in dynamical equilibrium. From this calculation we have confirmed the existence of isotropic spherical galaxies obeying a de Vaucouleurs'law which includes a dark halo. The flattening profile of the velocity dispersion curve seen in the elliptical galaxies can be explained as the increase of mass to light ratio in this dark matter. The space density distribution of this dark matter shows that the core radius of the dark matter is smaller than the effective radius of the galaxy.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.1
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• pp.129-137
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• 1994

A rigid-viscoplastic finite element method has been used for modeling superplastic stretch/blow process design to improve thickness distribution. Punch velocity-time relationship of the stretch forming and pressure-time cycle of the blow forming for a given strain rate are calculated. A superplastic material is assumed to be isotropic and a plane-strain line element based on membrane approximation is employed for the formulation. The effects of the width, corner radius and height of the punch during stretch forming are examined for the final thickness distribution, and the process design to improve thickness distribution can be established.

• Structural Engineering and Mechanics
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• v.58 no.4
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• pp.719-729
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• 2016

The main objective of the present paper is to study the effect of the yield criterion on the magnitude of the strain rate and plastic work rate intensity factors in axisymmetric flow of isotropic incompressible rigid perfectly plastic material by means of a problem permitting a closed-form solution. The boundary value problem consisting of the axisymmetric deformation of a plastic tube is solved. The outer surface of the tube contracts. The radius of the inner surface does not change. The material of the tube obeys quite a general yield criterion and its associated flow rule. The maximum friction law is assumed at the inner surface of the tube. Therefore, the velocity field is singular near this surface. In particular, the strain rate and plastic work rate intensity factors are derived from the solution. It is shown that the strain rate intensity factor does not depend on the yield criterion but the plastic work rate intensity factor does.

• Nuclear Engineering and Technology
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• v.50 no.7
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• pp.1106-1111
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• 2018

Electromagnetic waves potentially have been used to heat overdense nuclear fusion plasmas through a double mode conversion from ordinary to slow extraordinary and finally to Electron Bernstein Wave (EBW) modes, OSXB. This scheme is efficient and has not any plasma density limit of electron cyclotron resonance heating due to cut-off layer. The efficiency of conversion depends on the isotropic launching angles of the microwaves with the plasma parameters. In this article, a two-step mode conversions of OSXB power transmission efficiency affected by the fast extraordinary (FX) loses at upper hybrid frequency are studied. In addition, the kinetic (hot) dispersion relation of a overdense plasma in a full wave analysis of a OSXB in Wendelstein 7X (W7-X) stellarator plasma has been numerically simulated. The influence of plasma dependent parameters such as finite Larmor radius, electron thermal velocity and electron cyclotron frequency are represented.

• Journal of The Korean Astronomical Society
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• v.23 no.2
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• pp.97-105
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• 1990

The tidal radii of globular clusters reflect the tidal field of the Galaxy. The mass distribution of the Galaxy thus may be obtained if the tidal fields of clusters are well known. Although large amounts of uncertainties in the determination of tidal radii have been obstacles in utilizing this method, analysis of tidal density could give independent check for the Galactic mass distribution. Recent theoretical modeling of dynamical evolution including steady Galactic tidal field shows that the observationally determined tidal radii could be systematically larger by about a factor of 1.5 compared to the theoretical values. From the analysis of entire sample of 148 globular clusters and 7 dwarf spheroidal systems compiled by Webbink (1985), we find that such reduction from observed values would make the tidal density (the mean density within the tidal radius) distribution consistent with the flat rotation curve of our Galaxy out to large distances if the velocity distribution of clusters and dwarf spheroidals with respect to the Galactic center is isotropic.